y0               x0            rotz0
I0=I4     50.1712990    47.1382027      8.7617445
I1=I3     13.2330494    83.3300018     -0.1431776
I2=I2     68.0076523    51.3931999     -17.8003101
I3=I1     31.7232990    46.3606491      23.2394390